CN112402181B - Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint - Google Patents

Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint Download PDF

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CN112402181B
CN112402181B CN202011309072.6A CN202011309072A CN112402181B CN 112402181 B CN112402181 B CN 112402181B CN 202011309072 A CN202011309072 A CN 202011309072A CN 112402181 B CN112402181 B CN 112402181B
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joint
finger
fixed
movable
reverse rolling
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CN112402181A (en
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徐光华
罗丹
梁仍昊
张秋翔
李焕中
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Xian Jiaotong University
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Xian Jiaotong University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/10—Electroencephalographic signals
    • A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Rehabilitation Tools (AREA)

Abstract

一种基于反向滚动共轭面关节的手部康复外骨骼，包括底板，底板上连接有和手指配合的5个单指机构；每个单指机构包括定关节，定关节连接在底板上，定关节后端和直线驱动电机固定端连接，定关节前端通过滚动关节连接装置和动关节装置后端连接，定关节前端和动关节装置后端接触处形成反向滚动共轭面关节；动关节装置后端和直线驱动电机活动端连接，动关节装置前端和指端铰接头连接；反向滚动共轭面关节贴合人体运动特性、具有良好康复效果；采用直线电机驱动，简化机构，增强力传递的效率，降低系统的能耗，减轻机构的重量，增强产品的实用性。

Figure 202011309072

A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints, comprising a base plate, on which are connected five single-finger mechanisms that cooperate with fingers; each single-finger mechanism includes fixed joints, and the fixed joints are connected to the base plate, The rear end of the fixed joint is connected with the fixed end of the linear drive motor, the front end of the fixed joint is connected with the rear end of the movable joint device through the rolling joint connection device, and the contact point between the front end of the fixed joint and the rear end of the movable joint device forms a reverse rolling conjugate surface joint; the movable joint The rear end of the device is connected to the movable end of the linear drive motor, and the front end of the movable joint device is connected to the hinge joint of the finger end; the reverse rolling conjugate surface joint fits the human body movement characteristics and has a good recovery effect; it is driven by a linear motor, which simplifies the mechanism and enhances the force. The efficiency of transmission, reducing the energy consumption of the system, reducing the weight of the mechanism, and enhancing the practicability of the product.

Figure 202011309072

Description

Hand rehabilitation exoskeleton based on reverse rolling conjugate plane joint
Technical Field
The invention relates to the technical field of rehabilitation equipment, in particular to a hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints.
Background
With the increasing aging of the population, a large number of hand dyskinesia patients are caused by diseases such as stroke and the like, and huge market demand and social demand are brought. The hand rehabilitation exoskeleton is a reliable mode for rehabilitation physiotherapy by wearing the hand rehabilitation exoskeleton for helping hand dyskinesia patients such as the old, cerebral apoplexy sequelae and the disabled to recover normal hand functions.
With the continuous development of the field of hand rehabilitation exoskeletons, compared with the traditional rehabilitation therapy, the hand rehabilitation exoskeletons have the characteristics of accurate control, flexible use and the like, and can be designed in an individualized scheme according to the condition of a patient. Relevant research in the field of wearable exoskeleton rehabilitation robots attracts a large number of scholars at home and abroad, and the existing hand exoskeleton rehabilitation devices are roughly divided into the following three types according to mechanisms:
the first type is a fully flexible exoskeleton, which has compact structure, light weight and high adaptability, but cannot provide larger driving torque and does not have the orthopedic function of providing specific motion for a patient;
the second type is a fixed-axis rotating joint exoskeleton, which is simple in structure and widely applied to the design of human body large joints, but cannot meet the motion complexity of human body joints and cannot be well matched with the real motion characteristics of a human body;
the third type is a link mechanism exoskeleton which can fit the motion trail of a human hand, but the number of links is increased along with the increase of fitting points, so that the link mechanism exoskeleton with a good fitting effect is too large in size and is not beneficial to wearing and using of a patient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide the hand rehabilitation exoskeleton based on the reverse rolling conjugate plane joint, which has the characteristics of simple structure, fitting human motion characteristics, good rehabilitation effect and the like, and can be popularized and used in a large range.
In order to achieve the above object, the invention adopts the technical scheme that:
a hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints comprises a bottom plate 1, wherein 5 single-finger mechanisms matched with 5 fingers are connected to the bottom plate 1;
each single-finger mechanism comprises a fixed joint 2, a movable joint device 3, a rolling joint connecting device 4, a finger end hinge joint 5 and a linear driving motor 6, wherein the fixed joint 2 is connected to the bottom plate 1, the rear end of the fixed joint 2 is connected with the fixed end of the linear driving motor 6, the front end of the fixed joint 2 is connected with the rear end of the movable joint device 3 through the rolling joint connecting device 4, and the contact part of the front end of the fixed joint 2 and the rear end of the movable joint device 3 forms a reverse rolling conjugate plane joint; the rear end of the movable joint device 3 is connected with the movable end of the linear driving motor 6, and the front end of the movable joint device 3 is connected with the finger end articulated joint 5;
the rolling joint connecting device 4 comprises a cross reed 8 and a spring 9, and the cross reed 8 and the spring 9 are respectively fixed on the fixed joint 2 and the movable joint device 3.
The fixed joint 2 is of an integrated structure, the front end of the fixed joint 2 is provided with an assembly hole of a crossed reed 8, an assembly curved surface and a connecting platform of a spring 9, and the rear end of the fixed joint 2 is provided with an assembly hole of a motor fixed end connecting pin 10 and an assembly hole of a motor control line 11.
The movable joint device 3 is split, the movable joint device 3 comprises a finger end part 14, and the rear end of the finger end part 14 is connected with a rear end joint through a connecting bolt 13; the rear end joint is provided with an assembly curved surface of a crossed reed 8, a connecting platform of a spring 9 and an assembly hole of a motor movable end connecting pin 12; the rear end of the finger end part 14 is provided with a connecting bolt 13 assembling hole connected with a rear end joint, and the front of the finger end part 14 is provided with a finger end hinge pin 15 assembling hole.
The finger end part 14 can be replaced by different types according to different use requirements, so that the size of the mechanism is changed, and the use requirements of different patients are met.
The reverse rolling conjugate surfaces of the fixed joint 2 and the movable joint device 3 are obtained by solving through a infinitesimal method, the rolling connection adopts a cross reed 8 and a spring 9, the cross reed 8 ensures that the conjugate surfaces cannot slide, and the spring 9 ensures that the conjugate surfaces are always contacted.
The bottom plate 1 is provided with positioning holes in five finger directions connected with the fixed joints 2, and bottom plate fixing bands 7 penetrate through the positioning holes.
The base plate 1 is individually designed according to the size and the curved surface characteristics of the hand of a patient, and is fixed on the mitt through the base plate fixing bandage 7 when being worn.
The finger end joint 5 is connected with the movable joint device 3 through a finger end hinge pin 15.
The fixed end of the linear driving motor 6 is connected with the fixed joint 2 through a motor fixed end connecting pin 10, and the movable end is connected with the movable joint device 3 through a motor movable end connecting pin 12.
The linear driving motor 6 selects a stroke according to the stroke of the finger tip of a person, the thumb single-finger mechanism and the little finger single-finger mechanism select the small-stroke linear driving motor 6, and the driving of the other three finger single-finger mechanisms selects the large-stroke linear driving motor 6.
The invention has the beneficial effects that:
the invention extracts the joint characteristics of typical arthropods, obtains a joint model with a pair of reverse rolling conjugate surfaces for the first time, and performs mechanism design by taking the reverse rolling conjugate surface joints as a core to obtain the hand rehabilitation exoskeleton which has simple structure, is attached to the motion characteristics of a human body and has good rehabilitation effect.
The customized bottom plate and the customized finger tip parts are adopted, personalized design is carried out according to the appearance and the size of the hand of a patient, the adaptability of the product is enhanced, and the rehabilitation effect of the product is improved.
The linear motor is adopted for driving, the mechanism is simplified, the force transmission efficiency is enhanced, the energy consumption of the system is reduced, the weight of the mechanism is reduced, and the practicability of the product is enhanced.
Drawings
Fig. 1 is a schematic view of the assembly structure of the present invention.
Fig. 2 is a schematic view of a single finger assembly structure of the present invention.
Fig. 3 is a schematic view of the bottom plate structure of the present invention.
Fig. 4 is a schematic view of the assembly of the base plate and the fixed joint of the present invention.
Fig. 5 is a schematic view of the fixed joint structure of the present invention.
FIG. 6 is a schematic structural view of the dynamic joint device of the present invention.
Figure 7 is a schematic view of a finger end joint configuration of the present invention.
Fig. 8 is a schematic structural view of the linear driving motor of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail below with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Referring to fig. 1-2, a hand rehabilitation exoskeleton based on reverse rolling conjugate plane joints comprises a bottom plate 1, wherein 5 single-finger mechanisms matched with 5 fingers are connected to the bottom plate 1; each single-finger mechanism comprises a fixed joint 2, a movable joint device 3, a rolling joint connecting device 4, a finger end hinge joint 5 and a linear driving motor 6, wherein the fixed joint 2 is connected to the bottom plate 1, the rear end of the fixed joint 2 is connected with the fixed end of the linear driving motor 6, the front end of the fixed joint 2 is connected with the rear end of the movable joint device 3 through the rolling joint connecting device 4, and the contact part of the front end of the fixed joint 2 and the rear end of the movable joint device 3 forms a reverse rolling conjugate plane joint; the rear end of the movable joint device 3 is connected with the movable end of the linear driving motor 6, and the front end of the movable joint device 3 is connected with the finger end articulated joint 5.
The finger end hinge joint 5 is connected with the movable joint device 3 through a finger end hinge pin 15; the fixed end of the linear driving motor 6 is connected with the fixed joint 2 through a motor fixed end connecting pin 10, and the movable end is connected with the movable joint device 3 through a motor movable end connecting pin 12.
Referring to fig. 3, the bottom plate 1 is provided with five positioning holes in the finger direction, which are connected with the fixed joints 2, and the bottom plate fixing binding bands 7 penetrate through the positioning holes.
Referring to fig. 4, in order to replace the fixed joint 2, the fixed joint 2 and the bottom plate 1 are separated, and the fixed joint 2 is assembled by selecting a proper fixed joint 2 according to the stroke of the linear driving motor 6.
Referring to fig. 5, in order to enhance the structural stability, the fixed joint 2 is of an integrated structure and is manufactured by 3D printing; the front end of the fixed joint 2 is provided with an assembly hole and an assembly curved surface of a cross reed 8 and a connecting platform of a spring 9, and the rear end of the fixed joint 2 is provided with an assembly hole of a motor fixed end connecting pin 10 and an assembly hole of a motor control wire 11.
The rolling joint connecting device 4 comprises a cross reed 8 and a spring 9, and the cross reed 8 and the spring 9 are respectively fixed on the fixed joint 2 and the movable joint device 3.
Referring to fig. 6, in order to enhance the practicability of the product, the movable joint device 3 is a split type, the movable joint device 3 includes a finger end part 14, and the rear end of the finger end part 14 is connected with a rear end joint through a connecting bolt 13; the rear end joint is provided with an assembly curved surface of a crossed reed 8, a connecting platform of a spring 9 and an assembly hole of a motor movable end connecting pin 12; the rear end of the finger end part 14 is provided with a connecting bolt 13 assembling hole connected with a rear end joint, a finger end hinge pin 15 assembling hole is arranged in front of the finger end part 14, the use requirements of different patients can be met by replacing the size of the finger end part 14, the finger end part 14 and the rear end joint are connected by adopting bolts, the connecting mode is simple and stable, and the replacement is convenient;
in order to enhance the motion accuracy of the reverse rolling conjugate surface, the mode of connecting the cross reed 8 and the spring 9 is adopted, the cross reed 8 ensures that the conjugate surface does not slide, and the spring 9 provides contact force for the conjugate surface.
Referring to fig. 7, for the motion characteristic of laminating staff, finger end articulated joint 5 and movable joint device 3 adopt articulated connected mode, the dexterity of recovered motion in-process mechanism can be guaranteed to the rotational degree of freedom that increases, adopt the magic to paste the form of ring and connect between finger end articulated joint 5 and the staff, when guaranteeing the accuracy of motion transmission, can improve the travelling comfort of wearing.
Referring to fig. 8, in order to improve the efficiency of motion transmission, the linear driving motor 6 is adopted, the mechanism is simplified, the energy consumption of the system is reduced, the stroke of the linear driving motor 6 is selected according to the actual situation of human hand motion, the small-stroke linear driving motor 6 is selected for the thumb single-finger mechanism and the small-finger single-finger mechanism, and the large-stroke linear driving motor 6 is selected for the other three finger single-finger mechanisms, so that the motion characteristics of the human hand are simulated, and the attractiveness of the mechanism is enhanced.
The linear driving motor 6 adopts a mode of brain electric signal and myoelectric signal mixed control, brain electric control is used in fixed places such as hospitals, flexibility and interestingness of rehabilitation training are enhanced, myoelectric control is adopted in active places such as outdoors, and movement flexibility of a patient when the patient wears the rehabilitation equipment is enhanced.
The working principle of the invention is as follows:
the linear driving motor 6 is controlled to reciprocate, the movable end of the linear driving motor 6 drives the movable joint device 3 to periodically move, the movable joint device 3 is always in contact with the fixed joint 2 along a reverse rolling conjugate surface through the rolling joint connecting device 4, the cross reed 8 ensures that the rolling conjugate surface does not slide, the spring 9 provides contact force of the two reverse conjugate surfaces, the finger end hinge joint 5 is connected with a finger end part 14 of the movable joint device 3 through a revolute pair, and the finger end hinge joint 5 transmits the movement direction and displacement of the movable joint device 3 to the finger end of a human hand, so that the human hand is driven to periodically perform rehabilitation movement.
The above embodiments are only for illustrating the invention and not for limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, so that all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention should be defined by the claims.

Claims (10)

1.一种基于反向滚动共轭面关节的手部康复外骨骼，包括底板(1)，其特征在于，底板(1)上连接有和5个手指配合的5个单指机构；1. A hand rehabilitation exoskeleton based on a reverse rolling conjugate surface joint, comprising a base plate (1), wherein the base plate (1) is connected with 5 single-finger mechanisms that cooperate with 5 fingers; 每个单指机构包括定关节(2)、动关节装置(3)、滚动关节连接装置(4)、指端铰接头(5)和直线驱动电机(6)，定关节(2)连接在底板(1)上，定关节(2)后端和直线驱动电机(6)固定端连接，定关节(2)前端通过滚动关节连接装置(4)和动关节装置(3)后端连接，定关节(2)前端和动关节装置(3)后端接触处形成反向滚动共轭面关节；动关节装置(3)后端和直线驱动电机(6)活动端连接，动关节装置(3)前端和指端铰接头(5)连接；Each single-finger mechanism includes a fixed joint (2), a movable joint device (3), a rolling joint connection device (4), a finger end joint (5) and a linear drive motor (6), and the fixed joint (2) is connected to the bottom plate On (1), the rear end of the fixed joint (2) is connected with the fixed end of the linear drive motor (6), the front end of the fixed joint (2) is connected with the rear end of the movable joint device (3) through the rolling joint connecting device (4), (2) The contact between the front end and the rear end of the movable joint device (3) forms a reverse rolling conjugate joint; the rear end of the movable joint device (3) is connected with the movable end of the linear drive motor (6), and the front end of the movable joint device (3) is connected. connected with the finger-end hinge joint (5); 所述的滚动关节连接装置(4)包括交叉簧片(8)与弹簧(9)，交叉簧片(8)、弹簧(9)分别固定在定关节(2)、动关节装置(3)上。The rolling joint connection device (4) comprises a cross reed (8) and a spring (9), and the cross reed (8) and the spring (9) are respectively fixed on the fixed joint (2) and the movable joint device (3) . 2.根据权利要求1所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的指端铰接头(5)通过指端铰接销(15)与动关节装置(3)连接；所述的直线驱动电机(6)固定端通过电机固定端连接销(10)与定关节(2)相连，活动端通过电机活动端连接销(12)与动关节装置(3)相连。2 . The hand rehabilitation exoskeleton based on the reverse rolling conjugate surface joint according to claim 1 , wherein the finger joint joint ( 5 ) is connected with the moving joint through the finger joint pin ( 15 ). 3 . The joint device (3) is connected; the fixed end of the linear drive motor (6) is connected with the fixed joint (2) through the motor fixed end connecting pin (10), and the movable end is connected with the movable joint device through the motor movable end connecting pin (12). (3) Connected. 3.根据权利要求2所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的定关节(2)为一体式结构，定关节(2)前端设有交叉簧片(8)的装配孔及装配曲面、弹簧(9)的连接台，定关节(2)后端设有电机固定端连接销(10)的装配孔、电机控制线(11)的装配孔。3. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints according to claim 2, characterized in that the fixed joint (2) is an integrated structure, and the front end of the fixed joint (2) is provided with There are assembly holes for the crossed reeds (8), a curved surface for assembly, and a connection platform for the springs (9). The rear end of the fixed joint (2) is provided with an assembly hole for the connection pin (10) of the fixed end of the motor, and a mounting hole for the motor control wire (11). Assembly holes. 4.根据权利要求2所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的动关节装置(3)为分体式，动关节装置(3)包括指端零件(14)，指端零件(14)后端通过连接螺栓(13)和后端接头连接；后端接头设有交叉簧片(8)的装配曲面、弹簧(9)的连接台、电机活动端连接销(12)的装配孔；指端零件(14)后端设有与后端接头连接的连接螺栓(13)装配孔，指端零件(14)前端设有指端铰接销(15)装配孔。4. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints according to claim 2, wherein the movable joint device (3) is a split type, and the movable joint device (3) comprises The finger end part (14), the rear end of the finger end part (14) is connected with the rear end joint through the connecting bolt (13); The assembly hole of the connecting pin (12) of the movable end of the motor; the rear end of the finger end part (14) is provided with the assembly hole of the connecting bolt (13) connected with the rear end joint, and the front end of the finger end part (14) is provided with a finger end hinge pin ( 15) Mounting holes. 5.根据权利要求4所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的指端零件(14)根据不同使用要求替换型号，从而改变机构的尺寸，满足不同患者的使用需求。5. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints according to claim 4, characterized in that the finger end parts (14) are replaced by models according to different usage requirements, thereby changing the mechanism Size to meet the needs of different patients. 6.根据权利要求1所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的定关节(2)与动关节装置(3)的反向滚动共轭面采用微元法求解得到，滚动连接采用交叉簧片(8)与弹簧(9)，交叉簧片(8)保证共轭面不会产生滑动，弹簧(9)保证共轭面始终接触。6. A hand rehabilitation exoskeleton based on a reverse rolling conjugate surface joint according to claim 1, characterized in that the fixed joint (2) and the reverse rolling of the movable joint device (3) share the same The yoke surface is obtained by the micro-element method, and the rolling connection adopts a cross reed (8) and a spring (9). The cross reed (8) ensures that the conjugate surface does not slide, and the spring (9) ensures that the conjugate surface is always in contact. 7.根据权利要求1所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的底板(1)上设有与定关节(2)连接的五个手指方向的定位孔，定位孔穿有底板固定绑带(7)。7. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints according to claim 1, characterized in that, the bottom plate (1) is provided with five joints connected to the fixed joints (2). The positioning hole in the direction of the finger, the positioning hole is provided with a bottom plate fixing strap (7). 8.根据权利要求7所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的底板(1)依据患者手部的大小以及曲面特征进行个性化设计，佩戴时通过底板固定绑带(7)固定在露指手套上。8. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joint according to claim 7, wherein the bottom plate (1) is individually designed according to the size of the patient's hand and the characteristics of the curved surface , and is fixed on the fingerless gloves through the bottom plate fixing straps (7) when wearing. 9.根据权利要求1所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的直线驱动电机(6)按照人手指尖行程的大小选择行程，大拇指单指机构与小拇指单指机构选用小行程的直线驱动电机(6)，其余三个手指单指机构的驱动选择大行程的直线驱动电机(6)。9. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints according to claim 1, characterized in that, the linear drive motor (6) selects the stroke according to the stroke size of the human fingertip, and the stroke is larger The single-finger mechanism of the thumb and the single-finger mechanism of the little finger select a linear drive motor (6) with a small stroke, and the single-finger mechanism of the other three fingers is driven by a linear drive motor (6) with a large stroke. 10.根据权利要求1所述的一种基于反向滚动共轭面关节的手部康复外骨骼，其特征在于，所述的直线驱动电机(6)采用脑电信号或肌电信号控制的模式，在固定地点使用脑电控制，在活动地点采用肌电控制。10. A hand rehabilitation exoskeleton based on reverse rolling conjugate surface joints according to claim 1, characterized in that, the linear drive motor (6) adopts a mode controlled by an EEG signal or an EMG signal , using EEG control at fixed sites and EMG control at active sites.
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